Note 2 - Revenue Recognition - Significant Changes in Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
	Jun. 30, 2023	Jun. 30, 2023
Balance at beginning of period	$ 138	$ 0
Revenue recognized	169	301
Amounts invoiced	(45)	(90)
Reclassifications and other	0	51
Balance at end of period	262	262
Balance at beginning of period	186	210
Revenue recognized	(140)	(295)
Amounts invoiced	80	160
Reclassifications and other	0	51
Balance at end of period	$ 126	$ 126